yemai/bizhang_-obav
1
0
Fork 0
mirror of https://gitee.com/xiaohuolufeihua/bizhang_-obav.git synced 2026-05-22 01:12:31 +00:00
Code Issues Packages Projects Releases Wiki Activity

paw3902: Default to using SENS_FLOW_ROT rotation

Browse Source 
This restores the behavior to what it was previous to #16338 (74083d6).

Signed-off-by: Alex Mikhalev <alex@corvus-robotics.com>
This commit is contained in:
Alex Mikhalev
2021-04-03 13:49:21 -06:00
committed by Daniel Agar
parent c266c3e43a
commit cbf34109d1
1 changed files with 8 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files

9
src/drivers/optical_flow/paw3902/paw3902_main.cpp
View File

@@ -46,8 +46,14 @@ void PAW3902::print_usage()
I2CSPIDriverBase *PAW3902::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
int runtime_instance)
{
float yaw_rotation_degrees = NAN;
if (cli.custom1 >= 0) {
yaw_rotation_degrees = cli.custom1;
}
PAW3902 *instance = new PAW3902(iterator.configuredBusOption(), iterator.bus(), iterator.devid(), cli.bus_frequency,
cli.spi_mode, iterator.DRDYGPIO(), cli.custom1);
cli.spi_mode, iterator.DRDYGPIO(), yaw_rotation_degrees);
if (!instance) {
PX4_ERR("alloc failed");
@@ -67,6 +73,7 @@ extern "C" __EXPORT int paw3902_main(int argc, char *argv[])
int ch = 0;
using ThisDriver = PAW3902;
BusCLIArguments cli{false, true};
cli.custom1 = -1;
cli.spi_mode = SPIDEV_MODE0;
cli.default_spi_frequency = SPI_SPEED;